检索结果-内蒙古大学图书馆

control-Theoretic Splines under Uncountably Many Constraints: Fast and Exact Solutions

IFAC-PapersOnLine 2023年第2期56卷 1241-1246页

作者： Anjali Muthyala Debasish Chatterjee Masaaki Nagahara Systems & Control Engineering IIT Bombay Powai Mumbai 400076 India Graduate School of Advanced Science and Engineering Hiroshima University 1-4-1 Kagamiyama Higashi-Hiroshima City Hiroshima 739-8527 JAPAN

A constrained control-theoretic spline is a smoothing spline, which can be modeled as the output of a linear and time-invariant dynamical system with constraints on the output curve. The problem addressed in this article is that of synthesizing control-theoretic splines under uncountably many such constraints. While the standard formulation of control-theoretic splines involves finitely many constraints and has been studied from various perspectives, here we address the problem under uncountably many constraints by translating the problem into a convex semi-infinite program (SIP) and employing recently developed results to arrive at constructive and algorithmically tractable optimal solutions. We provide several examples to illustrate our results.

关键词： Constrained Splines Convex Semi-Infinite Program Convex Optimization Finite dimensional global optimization Robust control

来源：评论

学校读者我要写书评

暂无评论

Data-Driven control of Adaptive Cruise control systems Using Differential Flatness and Gaussian Processes

Data-Driven Control of Adaptive Cruise Control Systems Using...

引用

American control Conference (ACC)

作者： Bhavini Jeloka Florentina Nicolau Adnane Saoud Ravi N. Banavar Systems and Control Engineering group IIT Bombay Georgia Tech. Quartz EA7393 Laboratory ENSEA France College of Computing University Mohammed VI Polytechnic Benguerir Morocco

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper develops a novel control methodology for the adaptive cruise control system under external, unknown dynamics to attain set point regulation. The approach employs differential flatness for controller design, along with Gaussian Processes to estimate the unknown components in the dynamics. In order to ensure robustness to this data-driven technique, a robust control law is also introduced, that further exploits the Gaussian Process framework. The error dynamics is shown to converge to zero with high probability. Numerical experiments to support the results are presented.

关键词： Robust control Adaptive systems Gaussian processes Robustness Regulation Cruise control

来源：评论

学校读者我要写书评

暂无评论

Feedback Linearization of Implicit Discrete systems

引用

IFAC-PapersOnLine 2021年第19期54卷 340-345页

作者： Ashutosh Jindal Ravi Banavar Debasish Chatterjee Department of Systems and Control Engineering IIT Bombay Powai Mumbai 400076 India

Feedback linearization of a nonlinear system is an actively employed technique to control a nonlinear system. Feedback linearizability of continuous-time systems is generally not preserved under sampling and is dependent upon the choice of discretization method. This paper modifies the set of necessary and sufficient conditions for feedback linearization given by Grizzle (1986), so they can be employed for implicitly described discrete-time control system and using them establishes an equivalence between the discrete-time feedback linearizability of the Implicit and Explicit Euler discretization schemes.

关键词： Nonlinear control Numerical Methods Robotics Feedback Linearization Discrete Time systems Sampled Sytems Eulerian Discretization

来源：评论

学校读者我要写书评

暂无评论

Estimates on the size of the domain of the Implicit Function Theorem: A Mapping Degree based Approach

arXiv

引用

arXiv 2022年

作者： Jindal, Ashutosh Chatterjee, Debasish Banavar, Ravi Systems and Control Engineering Indian Institute of Technology Bombay IIT Area Powai Maharashtra Mumbai400076 India

In this article we present explicit estimates of size of the domain on which the Implicit Function Theorem and the Inverse Function Theorem are valid. For maps that are twice continuously differentiable, these estimates depend upon the magnitude of the first-order derivatives evaluated at the point of interest, and a bound on the second-order derivatives over a region of interest. One of the key contributions of this article is that the estimates presented require minimal numerical computation. In particular, these estimates are arrived at without any intermediate optimization procedures. We then present three applications in optimazation and systems and control theory where the computation of such bounds turns out to be important. First, in electrical networks, the power flow operations can be written as Quadratically Constrained Quadratic Programs (QCQPs), and we utilize our bounds to compute the size of permissible power variations to ensure stable operations of the power system network. Second, robustness margin of positive definite solutions to the Algebraic Riccati Equation (frequently encountered in control problems) subject to perturbations in the system matrices are computed with the aid of our bounds. Finally, we employ these bounds to provide quantitative estimates of the size of the domains for feedback linearization of discrete-time control systems. © 2022, CC BY-SA.

关键词： Feedback linearization

来源：评论

学校读者我要写书评

暂无评论

Experimental Evaluation of Internal Model control for 3φ Grid-tied Solar PV Inverter

Experimental Evaluation of Internal Model Control for 3φ Gr...

引用

2020 International Conference on Power Electronics and IoT Applications in Renewable Energy and its control, PARC 2020

作者： Mohapatra, Soumya Ranjan Sekhar, Palakurla Agarwal, Vivek Patwardhan, Sachin C. IIT Bombay Department of Electrical Engineering Mumbai India IIT Bombay Department of Systems and Control Engineering Mumbai India IIT Bombay Department of Chemical Engineering Mumbai India

ISBN: (纸本)9781728165752

The control performance of the 3-phase grid inverter decides the quality and quantity of power transfer from solar panels to the utility grid. Therefore, performance enhancement of control techniques of grid-tied photovoltaic system has practical significance. The objective of this work is to enhance servo control of the grid-tied PV system using a multi-variable internal model control (IMC) technique. The design guidelines of IMC for the grid-tied photovoltaic system is clearly presented. The filter model of the voltage source inverter is employed to design the IMC. Experimental results are demonstrated for two conditions. In one of the conditions, cascaded control of DC-link capacitor voltage and grid current has been carried out. The current reference for the IMC is generated from the PI controller which controls the capacitor voltage. Maximum power of the PV is tracked by generating suitable reference voltage for the DC-link voltage control. In the other condition, only IMC performance is verified assuming constant DC source. The experimental setup is explained in detail and concluding remarks are presented. © 2020 IEEE.

关键词： Solar panels

来源：评论

学校读者我要写书评

暂无评论

Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot 2019

Real-time depth estimation using camera and IMU on the unsta...

引用

Proceedings of the Advances in Robotics 2019

作者： Adwaith Vijayakumar Leena Vachhani Abhishek Gupta IDP in Systems and Control Engineering IIT Bombay Department of Mechanical Engineering IIT Bombay

ISBN: (纸本)9781450366502

Vision based robot navigation relies on the image sequences that are captured by the camera attached to its platform. In many robotic applications such as in case of spherical robots used for surveillance, the platform on which the camera resides is often unsteady and unwanted relative motion exists between camera and scene. This unwanted relative motion in case of a spherical robot is due to the pitching motion associated with its platform called yoke. A depth estimation algorithm that handles the effect of pitching using non-linear observer approach is proposed. The object in the scene whose depth is to be estimated is detected as features in the acquired images and are tracked by using concepts of optical flow. A discrete time state space model that fuses the information from camera and IMU data attached to the unsteady platform of spherical robot is derived. Extended Kalman filter (EKF) is used as the non-linear estimation technique for extraction of depth information from the proposed state space model. The convergence aspects of the extended Kalman filter when used as a deterministic observer for the proposed non-linear discrete-time model is analyzed with local observability and it is shown that there is boundedness of error covariance between the observed and actual depth. It is shown that the estimation error converges to zero irrespective of the initialization provided to the observer.

关键词： spherical robot vision-inertial data integration Monocular depth estimation

来源：评论

学校读者我要写书评

暂无评论

Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot

Real-time depth estimation using camera and IMU on the unsta...

引用

2019 Conference on Advances in Robotics, AIR 2019

作者： Vijayakumar, Adwaith Vachhani, Leena Gupta, Abhishek IDP in Systems and Control Engineering IIT Bombay India Department of Mechanical Engineering IIT Bombay India

ISBN: (纸本)9781450366502

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Multiparametric Nonlinear MPC: A region free approach

引用

IFAC-PapersOnLine 2020年第2期53卷 11374-11379页

作者： Sammyak Mate Sharad Bhartiya P.S.V Nataraj Systems and Control Engineering IIT Bombay India Department of Chemical Engineering IIT Bombay India

Determination of active constraints forms an essential part of the multiparametric MPC approach for linear systems. An analysis of KKT conditions to identify active constraints provides piecewise affine control laws and their corresponding critical regions (CRs). However, an extension of multiparametric MPC for nonlinear systems requires overcoming significant challenges: predictions are nonlinear and so are constraints, in which case the MPC problems takes the form of a nonlinear program (NLP). Application of KKT conditions show that, in general, the MPC control law for nonlinear systems is piecewise, implicit, nonlinear function of the state. Moreover, the CRs have nonlinear boundaries. In this work, we propose an offline combinatorial approach to identify all active sets of constraints for the nonlinear MPC problem a priori. The offline approach uses implicit enumeration of the constraints based on feasibility of KKT conditions and a primal criteria. Thus, the offline step provides all the admissible CRs as well as the corresponding nonlinear system of KKT equations corresponding to each CR. The online MPC implementation uses a region-free approach, wherein the CR corresponding to the current state as well as the control action is determined by solving the nonlinear system of KKT equations online. The method is demonstrated using a numerical example from literature.

关键词： Multiparametric MPC Nonlinear systems KKT conditions Active sets

来源：评论

学校读者我要写书评

暂无评论

Moving Horizon Capacitated Arc Routing Problem

SSRN

引用

SSRN 2022年

作者： Buriuly, Somnath Vachhani, Leena Sinha, Arpita Ravitharan, Sivapragasam Chauhan, S. IITB-Monash Research Academy India Systems and Control Engineering IIT Bombay India Monash Institute of Railway Technology Monash University Australia Department of Mechanical and Aerospace Engineering Monash University Australia

We investigate a moving horizon approach for the Multi-Trip Dynamic Capacitated Arc Routing Problem with Limited Duration, suitable for representing large-scale resource restricted routing problems arising in transportation systems. The moving horizon framework, coined as Moving Horizon Capacitated Arc Routing Problem (MH-CARP), subdivides the planning horizon of large-scale NP-Hard problems into smaller sub-problems. In addition, large-scale routing problems are cursed with arbitrary changes occurring in the problem dataset, affecting the future trips of all agents. MH-CARP is designed to achieve re-computation/re-planning of all agents, at the end of every trip. In addition, re-planning is also triggered immediately on observing arbitrary changes in the problem dataset. Theoretical results for the computation of dual variables are proposed and then implemented in a column generation algorithm to obtain lower bounds. The algorithm is validated on a widely available dataset for CARP, having instances of up to 147 tasks that require servicing by up to 20 agents. Using this benchmark data, a partial trip based re-planning strategy is also validated. Lastly, a simulation study is presented to contrast CARP based solution with MH-CARP solution. The results also show that automatic re-ordering of the trips is achieved to compensate for time delays. © 2022, The Authors. All rights reserved.

关键词： Linear programming

来源：评论

学校读者我要写书评

暂无评论

Temporal Recurring Unavailabilities in Multi-agent Rural Postman Problem: Navigating railway tracks during availability time intervals

arXiv

引用

arXiv 2021年

作者： Buriuly, Somnath Vachhani, Leena Sinha, Arpita Ravitharan, Sivapragasam Chauhan, Sunita CoE-OGE IIT Bombay India Systems and Control Engineering IIT Bombay India Department of Mechanical and Aerospace Engineering Monash University Australia Center for Equitable & Personalized Health Plaksha University India

Time-dependent (or temporal) properties may arise in many network-based planning problems, particularly in the routing and scheduling of railway track inspection problems. The availability of tracks depends on the train schedules, maintenance possessions, etc. In the absence of side constraints, this routing and scheduling problem is formulated as a multi-agent rural postman problem on a temporal-directed network;where a given set of rail track sections must be visited while respecting the temporal attributes due to railway track unavailabilities. In this work, we adopt a three-index formulation for the multi-agent Rural Postman Problem with Temporal Recurring Unavailabilities (RPP-TRU) and frame it as a Mixed Integer Linear Programming (MILP) problem. In addition, we propose relevant theoretical studies for RPP-TRU to ensure the feasibility of the proposed optimization problem. Two approaches of an exact algorithm are proposed, based on Benders’ decomposition framework, to address the disjunctive unavailability constraints occurring in its scheduling sub-problems, alongside the NP-Hard routing (master) problem. A polynomial-time algorithm is designed to address the scheduling sub-problem, while the NP-Hard master problem is solved using MILP toolbox. Comparison results with RPP (without temporal constraints) show a minor compromise with the spatial cost solution with significantly less delay, hence suitable for real-world routing and scheduling applications occurring in a shared network like railways. A simulation study on a part of the Mumbai suburban railway network demonstrates the working of the proposed methodology under a realistic setting. © 2021, CC BY.

关键词： Railroads

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：